Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525609
Y. Yagi, Kazuya Sato, M. Yachida
We designed a new omnidirectional image sensor, called COPIS (Conic Projection Image Sensor), to guide the navigation of a mobile robot. The feature of COPIS is passive sensing of the omnidirectional image of the environment, in real-time, using a conic mirror. COPIS is a suitable sensor for visual navigation in a real environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring the azimuth change in the image. We did several experiments in the simple indoor environment. The precision of the obtained environmental maps was sufficient for robot navigation in such environment. In these experiments, to examine the potential of COPIS against the effects of observational errors in real-time navigation, we simplified the image processing method and the experimental environment. In this paper, we improve the image processing method for extracting and tracking vertical edges, taking care of the reliability, and also evaluate the effectiveness of COPIS in a real indoor and outdoor environment.
{"title":"Evaluating effectivity of map generation by tracking vertical edges in omnidirectional image sequence","authors":"Y. Yagi, Kazuya Sato, M. Yachida","doi":"10.1109/ROBOT.1995.525609","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525609","url":null,"abstract":"We designed a new omnidirectional image sensor, called COPIS (Conic Projection Image Sensor), to guide the navigation of a mobile robot. The feature of COPIS is passive sensing of the omnidirectional image of the environment, in real-time, using a conic mirror. COPIS is a suitable sensor for visual navigation in a real environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring the azimuth change in the image. We did several experiments in the simple indoor environment. The precision of the obtained environmental maps was sufficient for robot navigation in such environment. In these experiments, to examine the potential of COPIS against the effects of observational errors in real-time navigation, we simplified the image processing method and the experimental environment. In this paper, we improve the image processing method for extracting and tracking vertical edges, taking care of the reliability, and also evaluate the effectiveness of COPIS in a real indoor and outdoor environment.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132271522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525340
M. Ito
This paper describes a new visual inspection system that can reliably detect fine defects as small as 0.1 /spl mu/m in mask/wafer patterns on the basis of comparison between scanning electron microscopic (SEM) images and design data. The chip-to-CAD comparison makes it possible to reliably detect significant defects that commonly occur in all chips on a mask/wafer. To cope with the difficult problems that arise when comparing heavily deteriorated SEM images with CAD patterns, new visual inspection algorithms are proposed for the thresholding for extracting pattern portions, correction of image positional displacements, and extraction and classification of significant defects. An automated system featuring parallel/pipeline processing and a simple and flexible structure has been constructed taking the complicated processing of deteriorating SEM images into account. When the input image resolution is set to 0.05 /spl mu/m/pixel, experiments confirm 0.1 /spl mu/m defects are unfailingly detected with the throughput of 1/spl sim/2 sec/frame. The proposed system is expected to make a substantial contribution to forthcoming developments in the visual inspection of very fine mask/wafer patterns.
{"title":"An automated system for LSI fine pattern inspection based on comparison of SEM images and CAD data","authors":"M. Ito","doi":"10.1109/ROBOT.1995.525340","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525340","url":null,"abstract":"This paper describes a new visual inspection system that can reliably detect fine defects as small as 0.1 /spl mu/m in mask/wafer patterns on the basis of comparison between scanning electron microscopic (SEM) images and design data. The chip-to-CAD comparison makes it possible to reliably detect significant defects that commonly occur in all chips on a mask/wafer. To cope with the difficult problems that arise when comparing heavily deteriorated SEM images with CAD patterns, new visual inspection algorithms are proposed for the thresholding for extracting pattern portions, correction of image positional displacements, and extraction and classification of significant defects. An automated system featuring parallel/pipeline processing and a simple and flexible structure has been constructed taking the complicated processing of deteriorating SEM images into account. When the input image resolution is set to 0.05 /spl mu/m/pixel, experiments confirm 0.1 /spl mu/m defects are unfailingly detected with the throughput of 1/spl sim/2 sec/frame. The proposed system is expected to make a substantial contribution to forthcoming developments in the visual inspection of very fine mask/wafer patterns.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131873230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525529
X. Zhong, J. M. Lewis
A new method for autonomous robot calibration is presented which is suitable for on-site calibration in an industrial application environment. Using a trigger probe as an extension of the manipulator link, robot internal joint sensor measurements were recorded for kinematic identification while the robot tip-point was in contact with a constraint plane in its workspace. From the consistency conditions of the constraint plane, the linear identification equations were derived, from which the kinematic parameters were extracted based on only robot internal joint readings without any external measurements of the endpoint locations. A recurrent neural network (RNN) approach was applied to resolve the linear identification problem. The RNN-based algorithm is computationally more robust and efficient compared with conventional numerical optimisation approaches. Both simulation and experimental results for a six degree-of-freedom (DOF) PUMA robot are presented in this paper.
{"title":"A new method for autonomous robot calibration","authors":"X. Zhong, J. M. Lewis","doi":"10.1109/ROBOT.1995.525529","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525529","url":null,"abstract":"A new method for autonomous robot calibration is presented which is suitable for on-site calibration in an industrial application environment. Using a trigger probe as an extension of the manipulator link, robot internal joint sensor measurements were recorded for kinematic identification while the robot tip-point was in contact with a constraint plane in its workspace. From the consistency conditions of the constraint plane, the linear identification equations were derived, from which the kinematic parameters were extracted based on only robot internal joint readings without any external measurements of the endpoint locations. A recurrent neural network (RNN) approach was applied to resolve the linear identification problem. The RNN-based algorithm is computationally more robust and efficient compared with conventional numerical optimisation approaches. Both simulation and experimental results for a six degree-of-freedom (DOF) PUMA robot are presented in this paper.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124099691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525508
P. Svestka, M. Overmars
Presents a new approach to the multi-robot path planning problem, where a number of robots are to change their positions through feasible motions in the same static environment. The approach is probabilistically complete. That is, any solvable problem is guaranteed to be solved within a finite amount of time. The method, which is an extension of previous work on probabilistic single-robot planners, is very flexible in the sense that it can easily be applied to different robot types. In this paper the authors apply it to non-holonomic car-like robots, and present experimental results which show that the method is powerful and fast.
{"title":"Coordinated motion planning for multiple car-like robots using probabilistic roadmaps","authors":"P. Svestka, M. Overmars","doi":"10.1109/ROBOT.1995.525508","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525508","url":null,"abstract":"Presents a new approach to the multi-robot path planning problem, where a number of robots are to change their positions through feasible motions in the same static environment. The approach is probabilistically complete. That is, any solvable problem is guaranteed to be solved within a finite amount of time. The method, which is an extension of previous work on probabilistic single-robot planners, is very flexible in the sense that it can easily be applied to different robot types. In this paper the authors apply it to non-holonomic car-like robots, and present experimental results which show that the method is powerful and fast.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114379824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525546
H. Asama, Masatoshi Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, I. Endo
A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity.
{"title":"Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism","authors":"H. Asama, Masatoshi Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, I. Endo","doi":"10.1109/ROBOT.1995.525546","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525546","url":null,"abstract":"A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115075445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525262
M. Mitsuishi, T. Hori, T. Nagao
This paper describes the construction of a telehandling/machining system with predictive and augmented information display. In particular, we propose a method for predictive information display and methods for information transformation of force to sound and visual information and illustrate their application through the use of a machine tool as an example of a tele-operated machine.
{"title":"Predictive, augmented and transformed information display for time delay compensation in tele-handling/machining","authors":"M. Mitsuishi, T. Hori, T. Nagao","doi":"10.1109/ROBOT.1995.525262","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525262","url":null,"abstract":"This paper describes the construction of a telehandling/machining system with predictive and augmented information display. In particular, we propose a method for predictive information display and methods for information transformation of force to sound and visual information and illustrate their application through the use of a machine tool as an example of a tele-operated machine.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117266402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525385
H. Shinoda, Naoki Morimoto, S. Ando
Proposes a new tactile sensory structure using integrated sensing elements which the authors call a tensor cell. It is located sparsely in a flexible body of a tactile sensor, and samples there the complete information of a stress tensor which requires six degrees of freedom to describe it. The authors clarify first the advantage of this architecture theoretically based on elasticity theory and matrix algebra. Then the design of the actual tensor cell and experimental results are described, and an application of it to contact surface characterization is shown.
{"title":"Tactile sensing using tensor cell","authors":"H. Shinoda, Naoki Morimoto, S. Ando","doi":"10.1109/ROBOT.1995.525385","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525385","url":null,"abstract":"Proposes a new tactile sensory structure using integrated sensing elements which the authors call a tensor cell. It is located sparsely in a flexible body of a tactile sensor, and samples there the complete information of a stress tensor which requires six degrees of freedom to describe it. The authors clarify first the advantage of this architecture theoretically based on elasticity theory and matrix algebra. Then the design of the actual tensor cell and experimental results are described, and an application of it to contact surface characterization is shown.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117346272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525584
N. Mitsumoto, T. Fukuda, K. Shimojima, A. Ogawa
This paper presents both the hardware and the software architectures for the multi agent robotic system. For the hardware architecture of the multi agent robotic system, the authors show the programmable MARS (micro autonomous robotic system). This robot can work for one of the agents of the multi agent robotic system. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent system, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune system. The authors adopt the self and non-self recognition network of the immune system in their algorithm.
{"title":"Micro autonomous robotic system and biologically inspired immune swarm strategy as a multi agent robotic system","authors":"N. Mitsumoto, T. Fukuda, K. Shimojima, A. Ogawa","doi":"10.1109/ROBOT.1995.525584","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525584","url":null,"abstract":"This paper presents both the hardware and the software architectures for the multi agent robotic system. For the hardware architecture of the multi agent robotic system, the authors show the programmable MARS (micro autonomous robotic system). This robot can work for one of the agents of the multi agent robotic system. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent system, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune system. The authors adopt the self and non-self recognition network of the immune system in their algorithm.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117352212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525338
K. Miller
This contribution presents the experimental verification of the newly developed Hamilton-based dynamic model of DELTA direct drive parallel robot by measurements of DELTA robot's motor torques. The strain gage technology was applied. The experiment is in author's opinion the first ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a system of rigid bodies, connected by frictionless joints. The results obtained from the model based on the direct application of Hamilton's principle in extended space, taking into account the differences between real and desired accelerations, agreed with measurements to at least 5%. The motor torque measuring system may be in future used in force control of DELTA robot.
{"title":"Experimental verification of modeling of DELTA robot dynamics by direct application of Hamilton's principle","authors":"K. Miller","doi":"10.1109/ROBOT.1995.525338","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525338","url":null,"abstract":"This contribution presents the experimental verification of the newly developed Hamilton-based dynamic model of DELTA direct drive parallel robot by measurements of DELTA robot's motor torques. The strain gage technology was applied. The experiment is in author's opinion the first ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a system of rigid bodies, connected by frictionless joints. The results obtained from the model based on the direct application of Hamilton's principle in extended space, taking into account the differences between real and desired accelerations, agreed with measurements to at least 5%. The motor torque measuring system may be in future used in force control of DELTA robot.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123536825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525295
Michael F. Kelly, M. Levine
It is essential that autonomous robots be able to locate and identify objects in their environment. A novel approach for visually extracting such object information from images is presented. Annular operators are used to identify existing symmetric relationships between sets of edge elements. Operators are applied at multiple scales to edge data which have been extracted at multiple scales from a gray-scale image. From the resulting symmetry points, the authors identify a set of object parts in the scene. These are used as the basis for constructing coarse graph-based object descriptors. Preliminary results are presented to illustrate the approach using natural image data.
{"title":"WHERE and WHAT: object perception for autonomous robots","authors":"Michael F. Kelly, M. Levine","doi":"10.1109/ROBOT.1995.525295","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525295","url":null,"abstract":"It is essential that autonomous robots be able to locate and identify objects in their environment. A novel approach for visually extracting such object information from images is presented. Annular operators are used to identify existing symmetric relationships between sets of edge elements. Operators are applied at multiple scales to edge data which have been extracted at multiple scales from a gray-scale image. From the resulting symmetry points, the authors identify a set of object parts in the scene. These are used as the basis for constructing coarse graph-based object descriptors. Preliminary results are presented to illustrate the approach using natural image data.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123541661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：